Robot Arm: Difference between revisions

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#<servo id> P<position> S<speed> T<time>
#<servo id> P<position> S<speed> T<time>
</pre>
</pre>

S, T are optional as far as we are aware.

Key:
* <servo id> - id of the servo being controlled (includes jaw)
* <position> - servo rotation position, generally between (500,2500)
* <speed> - speed of rotation; leaving this off generates fast movement, 400 seems like a "safe" value?
* <time> - time it takes to rotate to position?


== Servo key and degree of motion ==
== Servo key and degree of motion ==
* 0 - ???
* 1 - ???
* 2 - ???
* 3 - ???
* 4 - ???
* 5 - ???

= Purpose =
The current purpose of the robot arm is to make an entity that can play chess against a human.

= External Links =
* a manual

Revision as of 15:51, 19 December 2011

Hardware

The arm is a Lynxmotion AL5D.

Operation

Currently the arm is controlled by interfacing directly with /dev/ttySx or /dev/ttyUSBx . The syntax for controlling this is by sending the following string to the board:

#<servo id> P<position> S<speed> T<time>

S, T are optional as far as we are aware.

Key:

  • <servo id> - id of the servo being controlled (includes jaw)
  • <position> - servo rotation position, generally between (500,2500)
  • <speed> - speed of rotation; leaving this off generates fast movement, 400 seems like a "safe" value?

Servo key and degree of motion

  • 0 - ???
  • 1 - ???
  • 2 - ???
  • 3 - ???
  • 4 - ???
  • 5 - ???

Purpose

The current purpose of the robot arm is to make an entity that can play chess against a human.

External Links

  • a manual